CN108657306B - Four-foot robot with parallel flexible waist structure - Google Patents
Four-foot robot with parallel flexible waist structure Download PDFInfo
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- CN108657306B CN108657306B CN201810627660.0A CN201810627660A CN108657306B CN 108657306 B CN108657306 B CN 108657306B CN 201810627660 A CN201810627660 A CN 201810627660A CN 108657306 B CN108657306 B CN 108657306B
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000003068 static effect Effects 0.000 claims description 20
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 abstract description 10
- 241001465754 Metazoa Species 0.000 abstract description 6
- 210000001624 hip Anatomy 0.000 description 54
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a quadruped robot with a parallel flexible waist structure, which comprises a frame, a parallel flexible waist structure and four leg mechanisms with the same structure, wherein the frame consists of a front frame and a rear frame; the front frame and the rear frame are connected through a parallel flexible waist structure, and four leg mechanisms are respectively arranged on two front shoulder beams of the front frame and two rear shoulder beams of the rear frame; the four leg mechanisms are driven by the driving motor to advance or retreat, the front shoulder beam and the rear shoulder beam of the frame jointly provide one degree of freedom for the whole leg mechanism, and the parallel flexible waist structure is driven by the motor to move. The frame is divided into a front frame and a rear frame, the front frame and the rear frame are connected through a parallel flexible waist structure with four degrees of freedom, and the whole robot has four degrees of freedom under the action of a leg mechanism, a front shoulder beam, a rear shoulder beam and a flexible waist, so that the robot can simulate animals in nature to realize a plurality of complex actions.
Description
Technical Field
The invention relates to a four-foot robot with a parallel flexible waist structure, belonging to the technical field of walking robots.
Background
The foot robot can flexibly select the landing point to finish the given task according to the complex environment of the ground, so that the application of the foot robot in the complex environment is very wide, but most of the conventional four-foot robots adopt rigid waist structures and cannot meet the requirements of rapid movement, flexible obstacle avoidance and the like. Animal bionic research shows that the animal leg and the body can have stronger explosive force due to the change and the power accumulation of the waist when the animal moves, and the reasonable utilization of the waist can also reduce the energy consumption and better maintain the stability of the body. In addition, the smart waist structure can help animals to complete a plurality of difficult actions, so that the research on the flexible waist of the quadruped robot is indispensable.
At present, most of the flexible waist parts adopted at home and abroad are replaced by elastic bodies, and although the use of the elastic bodies can reduce the impact of the mechanism and improve the stability of the system, the steering of the mechanism cannot be actively controlled and some high-difficulty actions can be completed; the use of elastic materials also limits the freedom of the robot, increases energy consumption, etc.
Disclosure of Invention
The invention provides a four-foot robot with a parallel flexible waist structure, which increases the freedom degree of the four-foot robot, the rigidity of a mechanism and the like by adding parallel flexible waists into the structure.
The technical scheme of the invention is as follows: the four-foot robot with the parallel flexible waist structure comprises a frame, a parallel flexible waist structure 3 and four leg mechanisms 5 with the same structure, wherein the frame consists of a front frame 1 and a rear frame 4; the front frame 1 and the rear frame 4 are connected through a parallel flexible waist structure 3, and four leg mechanisms 5 are respectively arranged on two front shoulder beams 2 of the front frame 1 and two rear shoulder beams 6 of the rear frame 4; the four leg mechanisms 5 are driven to advance or retreat by a driving motor 12, the front shoulder beam 2 and the rear shoulder beam 6 of the frame jointly provide one degree of freedom for the whole leg mechanism 5, and the parallel flexible waist structure 3 is driven to move by a motor 11.
The parallel flexible waist structure 3 comprises a flexible waist moving platform 15, a flexible waist static platform 18 and three branched chains with the same structure and size; the flexible waist moving platform 15 is connected with the rear frame 4, the flexible waist static platform 18 is connected with the front frame 1, and the flexible waist static platform 18 is connected with the flexible waist moving platform 15 through three branched chains which are uniformly arranged.
The flexible waist moving platform 15 is welded with the rear frame 4, and the flexible waist static platform 18 is connected with the front frame 1 through bolts.
The branched chain comprises a rectangular frame 9, an output rod 8, two couplings 10 and a ball joint universal joint 7; one end of the rectangular frame 9 is connected with an output shaft of a motor 11 fixed on a flexible waist static platform 18 through two couplings 10, the other end of the rectangular frame 9 is connected with one end of an output rod 8 through a revolute pair, the other end of the output rod 8 is welded with one end of a ball joint universal joint 7, and the other end of the ball joint universal joint 7 is connected with a flexible waist moving platform 15 through bolts.
The motor 11 controls the motor 11 to rotate at different rotation speeds according to the received signals of the pressure sensor 17 through a motor controller; the pressure sensor 17 is mounted on a side steel plate of the front frame 1, and the side steel plate is connected with the flexible waist static platform 18 through bolts.
The front shoulder beam 2 and the rear shoulder beam 6 of the frame provide a degree of freedom for the whole leg mechanism 5, and a specific rotation mode is that a steering motor 13 fixed on the front shoulder beam 2 and the rear shoulder beam 6 drives the front shoulder beam 2, the rear shoulder beam 6 and the whole leg mechanism 5 to rotate leftwards/rightwards through rotation, an output shaft of the steering motor 13 is connected with a transmission shaft 14, and two ends of the transmission shaft 14 are respectively in interference fit with a bearing 16.
The leg mechanism 5 consists of a crank, a connecting rod I, a connecting rod II, a connecting rod III, a connecting rod IV, a connecting rod V and a connecting rod VI; one end of the crank is connected with an output shaft of a driving motor 12 fixed on the frame, one end of a connecting rod II and one end of a connecting rod III are connected with the frame through a revolute pair, the other end of the crank is connected with one end of a connecting rod I, the middle part of the connecting rod I is connected with the other end of the connecting rod II, the other end of the connecting rod I is connected with one end of a connecting rod IV and one end of a connecting rod V, the other end of the connecting rod III is connected with one end of a connecting rod VI, the other end of the connecting rod IV is connected with the middle part of the connecting rod III, and the other end of the connecting rod V is connected with the middle part of the connecting rod VI through a revolute pair.
The beneficial effects of the invention are as follows:
1. the frame of the parallel robot is divided into a front frame and a rear frame, the front frame and the rear frame are connected through a parallel flexible waist structure with four degrees of freedom, and the whole robot has four degrees of freedom under the action of a leg mechanism, a front shoulder beam, a rear shoulder beam and a flexible waist, so that the robot can simulate animals in nature to realize a plurality of complex actions.
2. The waist structure of the robot is a four-degree-of-freedom parallel mechanism (wherein the universal joint part has three rotational degrees of freedom and has one translational degree of freedom under the combined action of the rectangular frame, the output shaft and the universal joint), so that the rigidity of the mechanism is improved, the degree of freedom of the mechanism is increased, and the mechanism is convenient to control and complete more complex actions.
3. Compared with a robot with a rigid waist structure, the robot with the waist structure has the advantage that the capability of obstacle environments such as a hollow road, a narrow door and the like is greatly improved.
4. The four-foot robot with the changeable body can be rotated greatly and has the advantages of high rigidity, high stability and good terrain adaptability.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic view of a parallel flexible waist structure of the present invention;
FIG. 5 is a top view of the parallel flexible waist structure of the present invention;
FIG. 6 is a block diagram of a leg mechanism of the present invention;
FIG. 7 is a block diagram of a frame of the present invention;
FIG. 8 is a cross-sectional view of a frame of the present invention;
the reference numerals in the figures are: the device comprises a 1-front frame, a 2-front shoulder beam, a 3-parallel flexible waist structure, a 4-rear frame, a 5-leg mechanism, a 6-rear shoulder beam, a 7-ball universal joint, an 8-output rod, a 9-rectangular frame, a 10-coupler, an 11-motor, a 12-driving motor, a 13-steering motor, a 14-transmission shaft, a 15-flexible waist moving platform, a 16-bearing, a 17-pressure sensor and an 18-flexible waist static platform.
Detailed Description
The invention will be further described with reference to the drawings and examples, but the invention is not limited to the scope.
Example 1: as shown in fig. 1-8, a quadruped robot with a parallel flexible waist structure comprises a frame, a parallel flexible waist structure 3 and four leg mechanisms 5 with the same structure, wherein the frame is composed of a front frame 1 and a rear frame 4 (the two structures are the same, such as the front frame is composed of a top steel plate, a bottom steel plate, a side steel plate and two front shoulder beams arranged between the top steel plate and the bottom steel plate); the front frame 1 and the rear frame 4 are connected through a parallel flexible waist structure 3, and four leg mechanisms 5 are respectively arranged on two front shoulder beams 2 of the front frame 1 and two rear shoulder beams 6 of the rear frame 4; the four leg mechanisms 5 are driven to advance or retreat by a driving motor 12, the front shoulder beam 2 and the rear shoulder beam 6 of the frame jointly provide one degree of freedom for the whole leg mechanism 5, and the parallel flexible waist structure 3 is driven to move by a motor 11.
Further, the parallel flexible waist structure 3 may be provided to include a flexible waist moving platform 15, a flexible waist static platform 18, and three branched chains with the same structure and size; the flexible waist moving platform 15 is connected with the rear frame 4, the flexible waist static platform 18 is connected with the front frame 1, and the flexible waist static platform 18 is connected with the flexible waist moving platform 15 through three branched chains which are uniformly arranged.
Further, the flexible waist moving platform 15 may be welded to the rear frame 4, and the flexible waist static platform 18 is connected to the front frame 1 through bolts.
Further, the branched chain may be provided to include a rectangular frame 9, an output rod 8, two couplings 10, and a ball joint 7; one end of the rectangular frame 9 is connected with an output shaft of a motor 11 fixed on a flexible waist static platform 18 through two couplings 10, the other end of the rectangular frame 9 is connected with one end of an output rod 8 through a revolute pair, the other end of the output rod 8 is welded with one end of a ball joint universal joint 7, and the other end of the ball joint universal joint 7 is connected with a flexible waist moving platform 15 through bolts.
Further, the motor 11 may be configured to control the motor 11 to rotate at different rotational speeds according to the received signal of the pressure sensor 17 through the motor controller; the pressure sensor 17 is mounted on a side steel plate of the front frame 1, and the side steel plate is connected with the flexible waist static platform 18 through bolts.
Further, the front shoulder beam 2 and the rear shoulder beam 6 of the frame may be configured to provide a degree of freedom for the whole leg mechanism 5, and the specific rotation mode is that the steering motor 13 fixed on the front shoulder beam 2 and the rear shoulder beam 6 drives the front shoulder beam 2, the rear shoulder beam 6 and the whole leg mechanism 5 to rotate leftwards/rightwards through rotation, an output shaft of the steering motor 13 is connected with the transmission shaft 14, and two ends of the transmission shaft 14 are respectively in interference fit with a bearing 16 (when the motor rotates, the transmission shaft 14 also rotates along with the output shaft of the steering motor 13).
Further, the leg mechanism 5 may be provided to be composed of a crank, a link I, a link II, a link III, a link IV, a link V, and a link VI; one end of the crank is connected with an output shaft of a driving motor 12 fixed on the frame, one end of a connecting rod II and one end of a connecting rod III are connected with the frame through a revolute pair, the other end of the crank is connected with one end of a connecting rod I, the middle part of the connecting rod I is connected with the other end of the connecting rod II, the other end of the connecting rod I is connected with one end of a connecting rod IV and one end of a connecting rod V, the other end of the connecting rod III is connected with the middle part of the connecting rod IV through a revolute pair (shown in fig. 6, the connecting rod V is composed of a plurality of rods ab, bf, cd, eh, gf, fi and hj), a mechanism composed of ab, bf and cd is a mechanism for generating a movement track of a leg of a robot, a mechanism composed of eh, gf, fi and hj is an amplifying mechanism, ab is the crank, bf is the connecting rod I, eh is the connecting rod III, gf is the connecting rod IV, fi is the connecting rod V, hj is the connecting rod VI, a part is welded with an output shaft of the motor 12, d and e is connected with the frame through the revolute pair, and b, c, f, g, h, i parts are connected through the revolute pair.
The working principle of the invention is as follows:
when the four-legged robot needs to advance or retract, the drive motor 12 of the four legs drives the crank ab of the leg mechanism to rotate forward or backward, thereby realizing the advancing or retracting action.
When the quadruped robot turns, the steering motor 13 on the front shoulder beam 2 and the rear shoulder beam 6 drives the shafts to rotate forwards or reversely, the transmission shaft 14 is welded with the front shoulder beam 2 and the rear shoulder beam 6 respectively (the bearings are fixed on the top steel plate and the bottom steel plate of the frame, the transmission shaft 14 is in interference fit with the bearings 16, the transmission shaft 14 is welded with the front/rear shoulder beams), the rotation of the transmission shaft drives the front shoulder beam 2 and the rear shoulder beam 6 to rotate leftwards or rightwards, and the leg mechanism 5 is connected with the front shoulder beam 2 and the rear shoulder beam 6 through the revolute pair, so that the left-right rotation of the front shoulder beam 2 and the rear shoulder beam 6 enables the leg mechanism 5 to rotate leftwards or rightwards, thereby realizing turning actions.
The main function of the flexible waist is shock absorption. In the walking process of the robot, if the speed of the front frame and the speed of the rear frame of the robot are inconsistent due to uneven road surfaces or other factors, the speed difference of the front frame and the rear frame can provide pressure for the pressure sensor 17, the motor 11 can rotate at different rotating speeds according to different pressure values after the motor controller receives the pressure, the motor output shaft transmits power to the rectangular frame 9 through the coupler 10, the rectangular frame 9 rotates to drive the ball joint universal joint 7 to rotate, and the whole parallel flexible waist structure 3 plays a role of buffering, so that the stability of the mechanism is improved, and the service life of the mechanism is prolonged.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (5)
1. Four-foot robot with parallelly connected flexible waist structure, its characterized in that: comprises a frame, a parallel flexible waist structure (3) and four leg mechanisms (5) with the same structure, the machine frame is composed of a front machine frame (1) and a rear machine frame (4); the front frame (1) and the rear frame (4) are connected through a parallel flexible waist structure (3), and four leg mechanisms (5) are respectively arranged on two front shoulder beams (2) of the front frame (1) and two rear shoulder beams (6) of the rear frame (4); the four leg mechanisms (5) are driven to advance or retreat by a driving motor (12), a front shoulder beam (2) and a rear shoulder beam (6) of the frame provide one degree of freedom for the whole leg mechanism (5) together, and the parallel flexible waist structure (3) is driven to move by a motor (11);
the parallel flexible waist structure (3) comprises a flexible waist moving platform (15), a flexible waist static platform (18) and three branched chains with the same structure and size; the flexible waist moving platform (15) is connected with the rear frame (4), the flexible waist static platform (18) is connected with the front frame (1), and the flexible waist static platform (18) is connected with the flexible waist moving platform (15) through three uniformly arranged branched chains;
the leg mechanism (5) consists of a crank, a connecting rod I, a connecting rod II, a connecting rod III, a connecting rod IV, a connecting rod V and a connecting rod VI; one end of the crank is connected with an output shaft of a driving motor (12) fixed on the frame, one end of a connecting rod II and one end of a connecting rod III are connected with the frame through a revolute pair, the other end of the crank is connected with one end of a connecting rod I, the middle part of the connecting rod I is connected with the other end of the connecting rod II, the other end of the connecting rod I is connected with one end of a connecting rod IV and one end of a connecting rod V, the other end of the connecting rod III is connected with one end of a connecting rod VI, the other end of the connecting rod IV is connected with the middle part of the connecting rod III, and the other end of the connecting rod V is connected with the middle part of the connecting rod VI through a revolute pair.
2. The quadruped robot with parallel flexible lumbar structure of claim 1, wherein: the flexible waist moving platform (15) is welded with the rear frame (4), and the flexible waist static platform (18) is connected with the front frame (1) through bolts.
3. The quadruped robot with parallel flexible lumbar structure of claim 1, wherein: the branched chain comprises a rectangular frame (9), an output rod (8), two couplings (10) and a ball joint universal joint (7); one end of the rectangular frame (9) is connected with an output shaft of a motor (11) fixed on the flexible waist static platform (18) through two couplings (10), the other end of the rectangular frame (9) is connected with one end of an output rod (8) through a revolute pair, the other end of the output rod (8) is welded with one end of a ball joint universal joint (7), and the other end of the ball joint universal joint (7) is connected with the flexible waist static platform (15) through bolts.
4. The quadruped robot with parallel flexible lumbar structure of claim 1, wherein: the motor (11) controls the motor (11) to rotate at different rotation speeds according to the received signals of the pressure sensor (17) through a motor controller; the pressure sensor (17) is arranged on a side steel plate of the front frame (1), and the side steel plate is connected with the flexible waist static platform (18) through bolts.
5. The quadruped robot with parallel flexible lumbar structure of claim 1, wherein: the front shoulder beam (2) and the rear shoulder beam (6) of the frame jointly provide one degree of freedom for the whole leg mechanism (5), a specific rotation mode is that a steering motor (13) fixed on the front shoulder beam (2) and the rear shoulder beam (6) drives the front shoulder beam (2), the rear shoulder beam (6) and the whole leg mechanism (5) to rotate leftwards/rightwards through rotation, an output shaft of the steering motor (13) is connected with a transmission shaft (14), and two ends of the transmission shaft (14) are respectively in interference fit with a bearing (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627660.0A CN108657306B (en) | 2018-06-19 | 2018-06-19 | Four-foot robot with parallel flexible waist structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810627660.0A CN108657306B (en) | 2018-06-19 | 2018-06-19 | Four-foot robot with parallel flexible waist structure |
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| CN108657306A CN108657306A (en) | 2018-10-16 |
| CN108657306B true CN108657306B (en) | 2023-11-21 |
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| CN201810627660.0A Active CN108657306B (en) | 2018-06-19 | 2018-06-19 | Four-foot robot with parallel flexible waist structure |
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|---|---|---|---|---|
| KR20130014286A (en) * | 2011-07-30 | 2013-02-07 | 박순기 | A method for implemenlation of quadruped robot with low power walking |
| CN103302677A (en) * | 2013-06-03 | 2013-09-18 | 哈尔滨工程大学 | Hydraulically-driven two-freedom degree bionic spinal joint module |
| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN105835981A (en) * | 2016-04-02 | 2016-08-10 | 上海大学 | Bionic body mechanism capable of realizing multi-directional bending |
| CN208515722U (en) * | 2018-06-19 | 2019-02-19 | 昆明理工大学 | A kind of quadruped robot with parallel flexible waist structure |
-
2018
- 2018-06-19 CN CN201810627660.0A patent/CN108657306B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20130014286A (en) * | 2011-07-30 | 2013-02-07 | 박순기 | A method for implemenlation of quadruped robot with low power walking |
| CN103302677A (en) * | 2013-06-03 | 2013-09-18 | 哈尔滨工程大学 | Hydraulically-driven two-freedom degree bionic spinal joint module |
| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN105835981A (en) * | 2016-04-02 | 2016-08-10 | 上海大学 | Bionic body mechanism capable of realizing multi-directional bending |
| CN208515722U (en) * | 2018-06-19 | 2019-02-19 | 昆明理工大学 | A kind of quadruped robot with parallel flexible waist structure |
Non-Patent Citations (2)
| Title |
|---|
| 仿猎豹四足机器人结构设计与分析;马宗利;吕荣基;刘永超;张培强;王建明;;北京理工大学学报(01);第33-39页 * |
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